Multiposition lift

ABSTRACT

An automated storage and retrieval system includes a first independently operable section having a first number of predetermined storage and retrieval transactions, and a second independently operable section in communication with the first independently operable section and having a second number of predetermined storage and retrieval transactions. The first and second independently operable sections are configured to provide a respective number of predetermined storage and retrieval transactions so that the first number of predetermined storage and retrieval transactions substantially matches the second number of predetermined storage and retrieval transactions.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.15/339,548 filed Oct. 31, 2016 (now U.S. Pat. No. 10,035,650) which is acontinuation of U.S. application Ser. No. 14/215,289 filed Mar. 17, 2014(now U.S. Pat. No. 9,481,517) which is a non-provisional of and claimsthe benefit of U.S. Provisional Patent Application No. 61/791,251 filedMar. 15, 2013, the disclosures of which are incorporated herein byreference in their entireties.

BACKGROUND 1. Field

The exemplary embodiments generally relate to material handling systemsand, more particularly, to transport of items within the materialhandling system.

2. Brief Description of Related Developments

Multilevel storage and retrieval systems may be used in warehouses forthe storage and retrieval of goods. Generally the transportation ofgoods into and out of the storage structure is done with lifts fortransfer to a vehicle on a storage level, vehicles travelling up rampsto a predetermined storage level, or with vehicles that include liftstraveling along guide ways. Throughput of these storage and retrievalsystems may be limited by one or more of the retrieval of the goods at astorage level and the transfer of goods between storage levels.

It would be advantageous to balance the throughput so that a storage andretrieval transfer rate of one or more levels substantially matches agoods transfer rate between levels of the storage and retrieval system.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing aspects and other features of the disclosed embodiment areexplained in the following description, taken in connection with theaccompanying drawings, wherein:

FIG. 1 is a schematic illustration of an automated storage and retrievalsystem in accordance with aspects of the disclosed embodiment;

FIGS. 2-19 are schematic illustrations of portions of the automatedstorage and retrieval system in accordance with aspects of the disclosedembodiment.

DETAILED DESCRIPTION

FIG. 1 is a schematic illustration of an automated storage and retrievalsystem 100 in accordance with aspects of the disclosed embodiment.Although the aspects of the disclosed embodiment will be described withreference to the drawings, it should be understood that the aspects ofthe disclosed embodiment can be embodied in many forms. In addition, anysuitable size, shape or type of elements or materials could be used.

In accordance with aspects of the disclosed embodiment the automatedstorage and retrieval system 100 may operate in a retail distributioncenter or warehouse to, for example, fulfill orders received from retailstores for case units such as those described in U.S. patent applicationSer. No. 13/326,674 filed on Dec. 15, 2011, the disclosure of which isincorporated by reference herein in its entirety.

The automated storage and retrieval system 100 may include in-feed andout-feed transfer stations 170, 160 (which may include palletizers 160Pand/or depalletizers 170P), input and output vertical lift modules 150A,150B (generally referred to as lift modules 150—it is noted that whileinput and output lift modules are shown, a single lift module may beused to both input and remove items from the storage structure), astorage structure 130, and a number of autonomous rovers 110. It isnoted that the depalletizers 170P may be configured to remove items frompallets so that the in-feed transfer station 170 can transport the itemsto the lift modules 150 for input into the storage structure 130. Thepalletizers 160P may be configured to place items removed from thestorage structure 130 on pallets for shipping. The storage structure 130may include multiple levels 130L of storage rack modules. Each storagelevel 130L includes storage spaces 130S and storage or picking aisles130A which, e.g., provide access to the storage spaces 130S and transferdecks 130B over which the rovers 110 travel on a respective storagelevel 130L for transferring case units between any of the storage spaces130S of the storage structure 130 and any shelf of the lift modules 150.Each storage level 130L may also include charging stations 130C forcharging an on-board power supply of the rovers 110 on that storagelevel 130L.

The rovers 110 may be any suitable independently operable autonomousvehicles capable of carrying and transferring case units throughout thestorage and retrieval system 100. In one aspect the rovers 110 may beautomated, independent (e.g. free riding) rovers. Suitable examples ofrovers can be found in, for exemplary purposes only, U.S. patentapplication Ser. No. 13/326,674 filed on Dec. 15, 2011; U.S. patentapplication Ser. No. 12/757,312 filed on Apr. 9, 2010; U.S. patentapplication Ser. No. 13/326,423 filed on Dec. 15, 2011; U.S. patentapplication Ser. No. 13/326,447 filed on Dec. 15, 2011; U.S. patentapplication Ser. No. 13/326,505 Dec. 15, 2011; U.S. patent applicationSer. No. 13/327,040 filed on Dec. 15, 2011; U.S. patent application Ser.No. 13/326,952 filed on Dec. 15, 2011; and U.S. patent application Ser.No. 13/326,993 filed on Dec. 15, 2011, the disclosures of which areincorporated by reference herein in their entireties. The rovers 110 maybe configured to place case units, such as the above described retailmerchandise, into picking stock in the one or more levels of the storagestructure 130 and then selectively retrieve ordered case units forshipping the ordered case units to, for example, a store or othersuitable location.

The rovers 110, lift modules 150 and other suitable features of thestorage and retrieval system 100 may be controlled by, for example, oneor more central system control computers (e.g. control server) 120through, for example, any suitable network 180. The network 180 may be awired network, a wireless network or a combination of a wireless andwired networks using any suitable type and/or number of communicationprotocols. In one aspect, the control server 120 may include acollection of substantially concurrently running programs (e.g. systemmanagement software) for substantially automatic control of theautomated storage and retrieval system 100. The collection ofsubstantially concurrently running programs may be configured to managethe storage and retrieval system 100 including, for exemplary purposesonly, controlling, scheduling, and monitoring the activities of allactive system components, managing inventory (e.g. which case units areinput and removed and where the case units are stored) and pickfaces(e.g. one or more case units that are movable as a unit), andinterfacing with the warehouse management system 2500.

One or more of the lift module 150, transfer deck 130B, picking aisles130A, storage spaces 130S, transfer stations 160, 170 and rovers 110 mayform one or more of a first independently operable section and a secondindependently operable section. The first independently operable sectionmay have a first number of predetermined storage and retrievaltransactions and the second independently operable section, which is incommunication with the first independently operable section, may have asecond number of predetermined storage and retrieval transactions. Thefirst and second independently operable sections may be configured toprovide a respective number of predetermined storage and retrievaltransactions so that the first number of predetermined storage andretrieval transactions substantially matches the second number ofpredetermined storage and retrieval transactions. In one aspect one ormore of the lift modules 150 may form the first independently operablesection such that the first number of predetermined storage andretrieval transactions comprises a vertical transaction rate. One ormore of the storage levels (which may include at least the rovers 110,picking aisles 130A, transfer deck 130B and storage spaces 130S on arespective storage level) may form the second independently operablesection such that the second number of predetermined storage andretrieval transactions comprises a horizontal or level transaction rate.The vertical transaction rate may be a pickface (e.g. payload) transferrate to a predetermined vertical storage level of the automated storageand retrieval system and the horizontal transaction rate may be one ormore of a pickface transfer rate of a predetermined storage level 130Land/or a pickface transaction rate of a palletizer or depalletizer.

In one aspect the horizontal transaction rate may be addressed throughoptimized planning and control software of controller 120 that mayassign tasks and routes to rovers 110 in an efficient manner or in anyother suitable manner. The horizontal transaction rate may also beincreased by increasing the average speed of the rovers 110 in anysuitable manner. The vertical transaction rate may depend on, forexample, the number of seconds between successive shelves 150S passingan output of a lift module 150 on output of pickfaces or an input of thelift module 150 on input of pickfaces. The vertical transaction rate maybe addressed by increasing the number of pickface holding or loadpositions 200 (FIG. 2) on each lift module 150 shelf 150S and/orincreasing the number of lift modules 150 as will be described ingreater below. It is noted, as will also be seen below, increasing thevertical transaction rate may reduce the number of lift modules 150,reduce an area of the transfer deck 130B and/or allow bi-directionaloperation of lift modules 150 in which a single lift module 150 handlesboth input and output of pickfaces. In other aspects throughput (e.g.the horizontal and/or vertical transaction rates) can be increased byreducing the transfer deck lanes and/or avenues or repositioning thelift modules 150 to facilitate an optimized rover 110 traversal time aswill be described below.

Referring now to FIGS. 2 and 3, a portion of a vertical lift section 150is shown. The vertical lift module 150 may include one or more shelves150S that substantially continuously revolve around a track 210 formedby one or more track members 210M. In other aspects the vertical liftmodule 150 may have any suitable configuration for transportingpickfaces 200P (e.g. one or more case units that are moved as a unit) toand from the different storage levels 130L. Each shelf 150S may have alongitudinal axis LON and a lateral axis LAT. In this aspect, thelongitudinal axis LON of the shelf spans substantially between the trackmembers 210M so that the lateral sides of the shelves are adjacent eachother with respect to a first side 150N and a second side 150U of thevertical lift module 150 (it is noted, as will be described below, thatthe two sides may be used for pickface input/output, pickfaceoutput/output or pickface input/input). In other aspects thelongitudinal sides of the shelves may be adjacent each other withrespect to the first side 150N and second side 150U of the vertical liftmodule 150. The shelves 150S may be configured to hold one or morepickfaces 200P where the one or more pickfaces 200P have any suitablespatial arrangement on the shelves 150S as will be described in greaterdetail below. For example, each of the shelves 150S shown in FIG. 2 havetwo side by side loading positions 200 but in other aspects the shelveshave any suitable number of loading positions 200 disposed in anysuitable spatial relationship.

Pickfaces may be transferred to and from the shelves 150S in anysuitable manner. In one aspect the rovers 110 may transfer pickfaces toand from the shelves 150S as the shelves substantially continuouslytravel around the tracks 210M. In other aspects, as can be seen in FIG.3 one or more input/output conveyors 301, 302 (generally referred to asa “conveyor” or “conveyors”) may also transfer pickfaces to and from theshelves 150S. The conveyors 301, 302 transport the pickfaces between thevertical lift module 150 and one or more of the transfer stations 160,170. As may be realized the conveyors 301, 302 may be disposed on anysuitable side 150N, 150U (which, e.g., may depend on whether pickfacesare being loaded to or unloaded from) of the vertical lift module 150.

Referring now to FIG. 4 several examples of shelf configurations areshown in accordance with aspects of the disclosed embodiment. Here theshelves 150S1-150S3 are shown adjacent transfer deck 130B. The transferdeck 130B includes avenues 130BA and aisles 130BS that provide access tothe shelves 150S1-150S3. In these examples the shelves are arrangedsubstantially parallel with the avenues 130BA of the transfer deck.Shelf 15051 may be substantially similar to that described above withrespect to FIGS. 2 and 3. Shelf 150S2 includes two end loading positions200E1, 200E2 and an intermediate or center loading position 200C. Herethe shelf 150S has a length L1 such that only two rovers 110 (which arelocated side by side or end to end) can access end loading positions200E1, 200E2 or a single rover 110 can access the center loadingposition 200C. Here, to utilize the three loading positions 200E1,200E2, 200C the two end loading positions 200E1, 200E2 may be accessedfrom one storage level 130L and the center loading position 200C may beaccessed from another different storage level 130L. Planning and controlsoftware of, for example, the controller 120 may assign rover tasks sothat some storage levels 130L may have rovers accessing the end loadingpositions 200E1, 200E2 and other storage levels 130L may have roversaccessing the center loading position 200C. It is noted that theassignment of which storage levels 130L access the end or center loadingpositions may not be fixed and may be scheduled dynamically (e.g. in oneinstance predetermined storage level may access the end loadingpositions and in another instance the same predetermined level mayaccess the center loading position). Shelf 15053 also includes threeloading positions, e.g. end loading positions 200E1, 200E2 and centerloading position 200C. However, the shelf 15053 has a length L2 suchthat three rovers 110 can be positioned side by side or end to endwithout interfering with each other for substantially simultaneousaccess to all three loading positions 200E1, 200E2, 200C from the samestorage level 130L. As may be realized, the payload positions 200 oneach shelf 150S may be variably configurable so that the payloadpositions 200 can be located in any suitable predetermined location onthe shelf 150S. In one aspect, the controller 120 may assign rover tasksso that any loading position 200, 200E1, 200E2, 200C on any one of theshelves 150S1, 150S2, 150S3 may be dynamically accessed at any suitablepredetermined storage level. In other aspects, access to a predeterminedloading position may be fixed to a predetermined storage level 130L.

Referring to FIG. 5, in one aspect, a top view of a shelf 150S having aloading configuration substantially similar to shelf 150S2 is shown. Ascan be seen, two rovers 110 on storage level 130B1 access the endloading positions 200E1, 200E2 without interfering with each other.Correspondingly conveyors 301, 302 are positioned on a differentvertical level relative to storage level 130B1 for loading pickfaces toand/or unloading pickfaces from the end loading positions 200E1, 200E2of shelf 150S. FIG. 5 also illustrates one rover 110 located on adifferent storage level 130B2 accessing center loading position 200C. Asmay be realized, the center loading position 200C may have acorresponding conveyor 501 (substantially similar to conveyors 301, 302)which may be located at a different vertical level than conveyors 301,302 to load pickfaces to and/or unload pickfaces from the center loadingposition 200C of the shelf 150S. It is noted that the vertical height ofthe conveyors 301, 302, 501 and the other conveyors described herein forloading pickfaces to and/or unloading pickfaces from the shelves 150Smay be flexible such that one or more of the conveyors may be located atdifferent vertical heights from other conveyors accessing the same or adifferent shelf 150S.

FIG. 6, in one aspect, illustrates a shelf 150S having four loadingpositions, e.g., two end loading positions 200E1, 200E2 and two centerloading positions 200C1, 200C2. Here, rovers arranged side by side orend to end may be able to access pairs of the loading positions (e.g.every other loading position) without interfering with each other. Forexample, on one storage level 130B1 rovers 110 may access loadingpositions 200E1, 200C2 without interfering with each other. On adifferent storage level 130B2 rovers 110 may access loading positions200C1 and 200E2 without interfering with each other. As may be realized,each pair of loading positions 200E1, 200C2 and 200C1, 200E2 may havecorresponding conveyors disposed at different vertical heights. Forexample, conveyors 302, 501 may be located at, for example a firstvertical height for transferring pickfaces to and from loading positions200E1, 200C2. Conveyors 301, 601 may be located at, for example, asecond vertical height that is different from the first vertical heightfor transferring pickfaces to and from the loading positions 200C1,200E2. In other aspects each of the conveyors 301, 302, 501, 604 may belocated at different vertical heights.

In accordance with another aspect, FIGS. 7A and 7B illustrate a shelf150S4 having an expanded width W and any suitable length L for holding,for example, two rows of pickfaces (e.g. one row on each side S1, S2 ofthe shelf) where rovers 110 access the pickfaces from both sides S1, S2of the shelf 150S4. Conveyors 301, 302, 701, 702 may be positionedrelative to the shelves 150S4 for transferring pickfaces to and from theloading positions in a manner substantially similar to that describedabove. In one aspect as shown with respect to shelf 150S4N all loadingpositions 200N of the shelf may be used for loading pickfaces to thelift module 150. In another aspect as shown with respect to shelf 150S4Uall loading positions 200U of the shelf may be used for unloadingpickfaces from the lift module 150. In still other aspects, as will bedescribed below, some of the loading positions 200 of the shelf 150S4may be used for loading pickfaces to the lift module 150 and some of theloading positions may be used for unloading pickfaces from the liftmodule 150. As may be realized, the shelf 150S4 may also be configuredto hold pickfaces such that each side S1, S2 of the shelf 150S4 may haveloading positions arranged in a manner substantially similar to thosedescribed above with respect to FIG. 4. As may also be realized, whetherthe loading positions are used for loading or unloading may bedetermined by a direction of travel of the shelf relative to a transferstation (either of the storage levels 130L or conveyors) from which theloading positions are accessed.

Referring now to FIGS. 7C-7F, to allow rover access to both sides S1, S2of the shelf 150S4 one or more lift modules 150 may be positionedrelative to, for example, the transfer deck 130D so that one or more ofthe aisles 130BS and/or avenues 130BA run along a respective side S1, S2of the shelf 150S4. For example, as can be seen in FIGS. 7C and 7D thelift module 150 is arranged so that access to each side S1, S2 of theshelf 150S4 is provided by an avenue 130BA of the transfer deck 130Bsuch that the lift module 150 is substantially surrounded by aisles130BS and avenues 130BA. As may be realized, an area of the transferdeck 130B may be reduced by removing, for example, avenues 130BA fromthe transfer deck. As an example, the transfer deck area is reduced fromFIG. 7C to 7D by removing one or more avenues 130BA on a side of thelift module 150 opposite the picking aisles 130A. In other aspects,avenues 130BA between the lift module 150 and the picking aisles 130Amay be removed to reduce the area of the transfer deck 130B. Inaccordance with an aspect of the disclosed embodiment, as can be seen inFIGS. 7E and 7F, one or more of the lift modules 150 may be positionedrelative to the transfer deck 130B so that access to the loadingpositions on the sides S1, S2 of the shelves 150S4 is provided by theaisles 130BS of the transfer deck 130B. As may be realized, where accessto the loading positions is provided by the aisles 130BS an area of thetransfer deck may be reduced by eliminating a number of aisles 130BSbetween the shelves 150S4 (as shown in FIGS. 8A and 8B) and/or byeliminating avenues 130BA on either side of the lift modules 150. It isalso noted that the line of shelves 150S4 shown in FIGS. 7E and 7Falternate between having loading stations 200N and loading stations 200U(e.g. an input lift module is placed next to an output lift module) sothat the distance travelled by a rover between transferring a pickfaceto a loading position 200N and then transferring a pickface from aloading position 200U may be a shorter distance than when access to thesides S1, S2 is provided by the avenues 130BA. In other aspects theshelves, as shown in FIGS. 7C and 7D may be arranged so that the sidesS1 of each line of shelves accessed by a common avenue 130BA mayalternate between loading positions 200N and loading positions 200U(e.g. an input lift module is placed next to an output lift module) sothat a distance travelled by the rovers 110 between loading andunloading pickfaces to a shelf is substantially the same as the distancetravelled when the sides are accessed by the aisles 130BS. It is notedthat in other aspects an area of the transfer deck 130B aisles 130BS maybe removed between adjacent lift module 150 (FIG. 7G), the lift modules150 may be placed directly adjacent the picking aisles 130A (FIG. 7H),the transfer deck may be configured as an open deck substantiallylacking aisles 130BS and avenues 130BA (FIG. 7I), and/or the transferdeck or picking aisles of the storage structure may form piers, e.g.with the aisles 130BS, where the aisles 130BS extend from an avenue130BA of the transfer deck as will be described below. In still otheraspects the area of the transfer deck may be reduced in any suitablemanner.

As noted above, shelf 150S4 may also be used for both pickface loadingand pickface unloading operations. For example, side S1 of shelf 150S4may be used for loading pickfaces onto the shelf while side S2 of thesame or common shelf 150S4 may be used for unloading pickfaces from theshelf as shown in FIGS. 9A-9C, 10 and 11. This allows for both input andoutput of pickfaces to and from the storage structure 130 using a commonor the same lift module 150. For example, side S1 of shelf 150S4 mayhave loading positions 200N for loading pickfaces to the shelf 150S4while side S2 may have loading positions 200U for unloading pickfacesfrom the shelf 150S4. As can be seen in FIGS. 9A and 9B, transfer deck130B access to the loading positions 200N, 200U may be from an outsideposition OP of the lift module while access to loading positions byconveyors 301, 302, 901, 902 may be from an inside position IP (e.g. anarea between the vertical stacks of shelves). In other aspects transferdeck 130B access to the loading positions 200N, 200U may be from aninside position IP of the lift module while access to loading positionsby conveyors 301, 302, 901, 902 may be from an outside position OP (e.g.an area between the vertical stacks of shelves). It is noted that whileeach side S1, S2 of a shelf 150S4 is shown as having two loadingpositions in other aspects there may be any suitable number of loadingpositions having any suitable arrangement such as those described abovewith respect to FIG. 4. FIG. 9B may be referred to, for explanationpurposes, as illustrating a common shelf 150S4 having both loadingpositions 200N, 200U for both loading and unloading pickfaces. Thepickfaces 200NP having a hatched pattern represent pickfaces on aloading position 200N (e.g. loading on the lift module from storage)while the shaded pickfaces 200UP represent pickfaces on a loadingposition 200U (e.g. unloading from the lift module to storage). Thepickfaces 200NP from input conveyor 901 (which may be included in inputtransfer station 170—FIG. 1) are loaded on the shelves 150S4 in anysuitable manner from, for example, an inside position IP of the liftmodule 150 so that the pickfaces 200NP are disposed towards the insideof the lift module 150 when loaded on the lift module 150. When theshelves 150S4 travel over the top of the lift module 150 to an oppositeside, the pickfaces become disposed on an outside of the lift module 150and are accessible by rovers 110 disposed at each storage level 130L foroffloading the pickfaces from the lift module 150. At the same timepickfaces 200UP are loaded by rovers 110 onto the shelves 150S4 from anoutside of the lift platform 150S4. When the pickfaces 200UP travel overthe top of the lift module 150S4 the pickfaces 200UP become disposed onan inside of the lift module 150 travelling downwards to the conveyor902 (which may be included in the output transfer station 160—FIG. 1)for offloading the pickfaces from the lift module 150 to the conveyor902. In contrast to input only or output only lift modules thebi-directional lift module shown in FIGS. 9A-9B allows for simultaneoususe of the shelves 150S4 travelling both up and down. As can be seen inFIGS. 10 and 11, access to both sides S1, S2 of the shelves 150S4 may beprovided in a manner substantially similar to that above such that theaisles 130BS or avenues 130BA of the transfer deck 130B substantiallysurround the lift module 150 so that one or more of the aisles 130BS oravenues 130BA provide access to the shelves 150S4, e.g. depending on theorientation of the shelves 150S4 relative to the transfer deck (as notedabove). It is also noted that in one aspect the storage structure 130may be arranged such that picking aisles 130A and storage spaces 130Sare disposed only on one side of the lift modules 150 (FIG. 10) while inother aspects picking aisles 130A and storage spaces 130S may bedisposed on two or more sides of the lift modules 150 (FIG. 11).

While multi-position lift modules have been described above, inaccordance with aspects of the disclosed embodiment the lift modules 150may include shelves having only a single loading position 200. Forexample, referring to FIG. 12A a storage structure 130 is shown having atransfer deck 130B with, e.g., twenty-four single lift modules 150 eachhaving a single load position 200. Compared to a storage structurehaving a similar transfer deck but with two input lift modules and twooutput lift modules with, for example, two load positions on each shelf,the number of load positions 200 and vertical transactions that canoccur with the configuration shown in FIG. 12A may be higher. Thecontroller 120 may adjust the rover tasks accordingly so that thehorizontal transfer rate of each storage level 130L substantiallymatches the vertical transfer rate of the lift modules 150. In otheraspects the controller may adjust the transfer rate of the transferstations 160, 170 to substantially match the vertical transfer rate ofthe lift modules. As may be realized, the storage structure 130 and liftmodule 150 configuration shown in FIG. 12A is merely exemplary and inother aspects the storage structure and lift modules may have anysuitable configuration with any suitable number of lift modules (whichmay have one or more loading positions on each shelf).

In one aspect, as shown in FIG. 12A, one or more aisles 130BS of thetransfer deck may extend from the transfer deck 130B to form arespective pier 130P (e.g. an extension of the transfer deck). Each piermay include avenues 130BA that provide access to the loading position200 of each shelf 150S for lift modules 150 located on one or morelateral sides 130PS1, 130PS2 of a respective pier 130P. As may berealized, the pier 130P may have any suitable length to accommodate anysuitable number of lift modules 150. As can be seen in FIG. 13, the loadposition for each lift module 150 disposed along an avenue 130BA of apier 130P may be positioned along one or more sides 130BAS1, 130BAS2 ofthe avenue 130BA. FIG. 12B is a schematic view of a portion of thestorage structure 130 shown in FIG. 12A. As can be seen in FIG. 12B theload positions 200 for each lift module 150 are disposed on a commonside 130BAS2 of each avenue 130BA of the pier 130P. In another aspect,as shown in FIG. 13, the load positions 200 are on opposite sides130BAS1, 130BAS2 of the avenue 130BA.

In another aspect, as shown in FIGS. 14 and 15 the aisle 130BS of thepier 130P may provide access to a loading position 200 of a lift modulesuch that the loading position is disposed at an end of the pier 130P.As can be seen in FIG. 14 immediately adjacent aisles 130BS may formpiers 130P, 130P1 so that the load positions are arranged in a side byside configuration. In other aspects there may be one or more aisles130BS between piers (see FIGS. 12A and 15). As can be seen in FIG. 15four piers are formed by the aisles 130BS1-130BS4 where piers 130P1 and130P2 are immediately adjacent one another and piers 130P and 130P1 aswell as piers 130P2 and 130P3 have an aisle separating the piers. As canbe seen in FIG. 15 the load positions 200 are disposed as an end of eachpier in a manner substantially similar to that described with respect toFIG. 14. As can also be seen in FIG. 15, any suitable number of loadingpositions 200 may be disposed along one or more sides 130BSS1, 130BSS2of each pier 130P-130P3.

In accordance with another aspect of the disclosed embodiment, FIGS. 16and 17 are examples of pier arrangement where loading stations 200 aredisposed on both the sides 130PS1, 130PS2 and the ends of the piers. Thepiers may be single piers as shown in FIG. 16 (see also pier 13PS) organged piers 130PT (FIG. 17). The ganged piers 130PT may include two ormore piers connected to each other through, for example, one or moreavenues 130BA of the piers.

FIGS. 18 and 19 illustrate single loading position 200 lift modules 150arranged in a manner substantially similar to that described above withrespect to FIGS. 4, 7C-7I, 8A, 8B, 9C, and 11 such that access to eachloading station 200 is provided by an avenue 130BA along the transferdeck 130B. The area of the transfer deck 130B providing access to theloading positions may be referred to as a vestibule. FIG. 18 illustratestwo vestibules V1, V2 each having two rows of lift modules each havingone or more load position 200 where avenue 130BA1 provides access to onerow of lift modules and avenue 130BA2 provides access to another row oflift modules. As may be realized the vestibules V1, V2 may include moreor less than two rows of lift modules. It is also noted that eachvestibule V1, V2 may include one or more side by side lift modules 150.For exemplary purposes only, each avenue 130BA1, 130BA2 of vestibule V1provides access to one lift module 150 while each avenue 130BA1, 130BA2of vestibule V2 provides access to two side by side lift modules 150.Similarly, FIG. 19 illustrates a transfer deck configuration having fourvestibules V1-V4 where vestibule V1 provides access to a single loadposition 200, vestibule V2 provides access to two load positions 200,vestibule V3 provides access to three load positions 200 and vestibuleV4 provides access to four load positions 200. As may be realized, theload positions in each vestibule may be provided by a single lift module(e.g. having multiple loading positions) or multiple lift modules (e.g.having single loading positions).

In accordance with one or more aspects of the disclosed embodiment anautomated storage and retrieval system includes a first independentlyoperable section having a first number of predetermined storage andretrieval transactions; and a second independently operable section incommunication with the first independently operable section and having asecond number of predetermined storage and retrieval transactions; wherethe first and second independently operable sections are configured toprovide a respective number of predetermined storage and retrievaltransactions so that the first number of predetermined storage andretrieval transactions substantially matches the second number ofpredetermined storage and retrieval transactions.

In accordance with one or more aspects of the disclosed embodiment thefirst number of predetermined storage and retrieval transactionscomprises a vertical transaction rate and the second number ofpredetermined storage and retrieval transactions comprises a horizontaltransaction rate. In another aspect the vertical transaction ratecomprises a payload transfer rate to a predetermined vertical storagelevel of the automated storage and retrieval system and the horizontaltransaction rate comprises one or more of a payload transfer rate of thepredetermined vertical storage level and a payload transaction rate of apalletizer or depalletizer.

In accordance with one or more aspects of the disclosed embodiment theautomated storage and retrieval system further includes at least onevertical lift module; a transfer deck section in communication with theat least one vertical lift module; at least one storage section incommunication with the transfer deck; and at least one independentlyoperable rover configured to traverse the transfer deck section andinterface with the at least one storage section and the at least onevertical lift module; wherein one of the at least one vertical liftmodule, the transfer deck section, the at least one storage section, andthe at least one independently operable rover form one or more of thefirst or second independently operable sections. In another aspect theautomated storage and retrieval system further includes at least onecharging section configured to interface with the at least oneindependently operable rover, wherein the at least one charging stationforms one or more of the first or second independently operablesections. In still another aspect the automated storage and retrievalsystem further includes at least one palletizing section and at leastone depalletizing section, wherein one or more of the at least onepalletizing section and the at least one depalletizing section forms oneor more of the first or second independently operable sections. In yetanother aspect the at least one vertical lift module comprises two sideby side vertical lifts and the transfer deck includes a rover travelaisle shared by the two side by side vertical lifts. In yet anotheraspect the at least one vertical lift module comprises two side by sidevertical lifts and the transfer deck includes an open deck configuredfor unrestrained travel of rovers along the open deck for allowing roveraccess to the two side by side vertical lifts. In another aspect thetransfer deck includes a rover travel pier extending between and sharedby adjacent payload shelves of the at least one vertical lift module. Instill another aspect the transfer deck includes one or more of rovertravel aisles and avenues for providing access to a payload shelf of theat least one multilevel vertical conveyor section.

In accordance with one or more aspects of the disclosed embodiment oneof the first or second independently operable sections includes avertical lift having payload shelves where each payload shelf includesvariably configurable payload holding locations.

In accordance with one or more aspects of the disclosed embodiment oneof the first or second independently operable sections includes avertical lift configured for both inputting and removing payload itemsto and from the automated storage and retrieval system.

In accordance with one or more aspects of the disclosed embodiment theautomated storage and retrieval system further includes verticallystacked storage levels, where one of the first or second independentlyoperable sections includes a vertical lift having payload shelves, thevertical lift being positioned within the automated storage andretrieval system so that each payload shelf is accessible at eachstorage level from opposite sides of a respective shelf.

In accordance with one or more aspects of the disclosed embodiment theautomated storage and retrieval system further includes at least onevertical lift module; at least one storage section in communication withthe at least one vertical lift module; and at least one independentlyoperable rover configured to traverse the transfer deck section andinterface with the at least one storage section and the at least onevertical lift module; wherein one of the at least one vertical liftmodule, the at least one storage section, and the at least oneindependently operable rover form one or more of the first or secondindependently operable sections.

In accordance with one or more aspects of the disclosed embodiment amethod of transporting payloads in an automated storage and retrievalsystem includes providing a first independently operable section havinga first number of predetermined storage and retrieval transactions; andproviding a second independently operable section in communication withthe first independently operable section and having a second number ofpredetermined storage and retrieval transactions; where the first andsecond independently operable sections provide a respective number ofpredetermined storage and retrieval transactions so that the firstnumber of predetermined storage and retrieval transactions substantiallymatches the second number of predetermined storage and retrievaltransactions.

In accordance with one or more aspects of the disclosed embodimentwherein the first number of predetermined storage and retrievaltransactions comprises a vertical transaction rate and the second numberof predetermined storage and retrieval transactions comprises ahorizontal transaction rate. In accordance with one or more aspects ofthe disclosed embodiment the vertical transaction rate comprises apayload transfer rate to a predetermined vertical storage level of theautomated storage and retrieval system and the horizontal transactionrate comprises one or more of a payload transfer rate of thepredetermined vertical storage level and a payload transaction rate of apalletizer or depalletizer.

It should be understood that the foregoing description is onlyillustrative of the aspects of the disclosed embodiment. Variousalternatives and modifications can be devised by those skilled in theart without departing from the aspects of the disclosed embodiment.Accordingly, the aspects of the disclosed embodiment are intended toembrace all such alternatives, modifications and variances that fallwithin the scope of the appended claims. Further, the mere fact thatdifferent features are recited in mutually different dependent orindependent claims does not indicate that a combination of thesefeatures cannot be advantageously used, such a combination remainingwithin the scope of the aspects of the invention.

What is claimed is:
 1. A method for automated storage and retrieval, themethod comprising: providing at least one vertical lift module with alift platform having loading access on opposite sides of the at leastone vertical lift module; providing a transfer deck section incommunication with the at least one vertical lift module, the transferdeck section including rover travel avenues and rover travel aislessubstantially astride the at least one vertical lift module providingloading stations on a common level of the transfer deck section to eachlift platform of the at least one vertical lift module on the oppositesides of the at least one vertical lift module; providing at least onestorage section in communication with the transfer deck section; andinterfacing the at least one storage section and the at least onevertical lift module with at least one independently operable rovertraversing the transfer deck section.
 2. The method of claim 1, furthercomprising providing at least one charging section for interfacing withthe at least one independently operable rover.
 3. The method of claim 1,further comprising providing at least one palletizing section and atleast one depalletizing section.
 4. The method of claim 1, furthercomprising providing two side by side vertical lifts and accessing thetwo side by side vertical lifts with each rover travel aisle.
 5. Themethod of claim 1, further comprising extending the rover travel aislesbetween adjacent vertical lift modules.
 6. The method of claim 1,further comprising extending the rover travel aisles between adjacentlift platforms of a common vertical lift module.
 7. The method of claim1, further comprising inputting and removing payload items to and fromthe automated storage and retrieval system with the vertical liftmodule.
 8. The method of claim 1, further comprising providingvertically stacked storage levels, and positioning the vertical liftmodule within the automated storage and retrieval system so that eachlift platform is accessible at each storage level from opposite sides ofa respective platform.
 9. The method of claim 1, further comprisingproviding two side by side vertical lifts on the at least one verticallift module, providing an open deck configuration on the transfer decksection for unrestricted travel of rovers along the open deck, andaccessing the two side by side vertical lifts with the at least oneindependently operable rover via the open configuration.
 10. Anautomated storage and retrieval system comprising: at least one verticallift module having lift platforms with a lift platform having loadingaccess on opposite sides of the at least one vertical lift module; atransfer deck section in communication with the at least one verticallift module; at least one storage section in communication with thetransfer deck section; and at least one independently operable roverconfigured to traverse the transfer deck section and interface with theat least one storage section and the at least one vertical lift module;wherein the transfer deck section includes rover travel avenues androver travel aisles substantially astride the at least one vertical liftmodule providing loading stations to the lift platforms on the oppositesides of the at least one vertical lift module on a common level of thetransfer deck section to each of the lift platforms.
 11. The automatedstorage and retrieval system of claim 10, wherein one of the at leastone vertical lift module, the transfer deck section, the at least onestorage section, and the at least one independently operable rover formone or more of a first or second independently operable sections. 12.The automated storage and retrieval system of claim 11, furthercomprising at least one charging section configured to interface withthe at least one independently operable rover, wherein the at least onecharging station forms one or more of the first or second independentlyoperable sections.
 13. The automated storage and retrieval system ofclaim 11, further comprising at least one palletizing section and atleast one depalletizing section, wherein one or more of the at least onepalletizing section and the at least one depalletizing section forms oneor more of the first or second independently operable sections.
 14. Theautomated storage and retrieval system of claim 10, wherein the at leastone vertical lift module comprises two side by side vertical lifts andthe rover travel aisles are shared by the two side by side verticallifts.
 15. The automated storage and retrieval system of claim 10,wherein the at least one vertical lift module comprises two side by sidevertical lifts and the transfer deck section includes an open deckconfigured for unrestrained travel of rovers along the open deck forallowing rover access to the two side by side vertical lifts.
 16. Theautomated storage and retrieval system of claim 10, wherein the rovertravel aisles extend between adjacent vertical lift modules.
 17. Theautomated storage and retrieval system of claim 10, wherein the rovertravel aisles extend between adjacent lift platforms of a commonvertical lift module.
 18. The automated storage and retrieval system ofclaim 10, wherein each lift platform includes variably configurablepayload holding locations.
 19. The automated storage and retrievalsystem of claim 10, wherein the vertical lift module is configured forboth inputting and removing payload items to and from the automatedstorage and retrieval system.
 20. The automated storage and retrievalsystem of claim 10, further comprising vertically stacked storagelevels, where the lift platforms are positioned within the automatedstorage and retrieval system so that each lift platform is accessible ateach storage level from opposite sides of a respective lift platform.